Simulation Research on Time-Optimal Path Planning of UAV Utilizing the Flightmare Platform
Yuling Xin, Xin Lü, Fusheng Li · 2024
This paper presents a study on time-optimal path planning and control for Unmanned Aerial Vehicles (UAVs) using fourth-order minimum snap trajectory generation and Nonlinear Model Predictive Control (NMPC) on the Flightmare simulation platform. Targeting the demands of fast flight in complex environments, a fourth-order polynomial trajectory planner is designed to minimize flight time while adhering to dynamical constraints. Integration with an NMPC and a PID controller enables precise tracking and dynamic adjustment of planned trajectories. Experimental results demonstrate that this method generates efficient and smooth flight trajectories, significantly reducing flight time while ensuring UAV stability and safety.